eive/eive-obsw
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rw wip

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This commit is contained in:
Martin Zietz
2021-06-24 12:04:36 +02:00
parent 88181d8fb4
commit d05b1913ab
8 changed files with 95 additions and 41 deletions
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42
bsp_q7s/spiCallbacks/rwSpiCallback.cpp
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@ -90,6 +90,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
default:
writeBuffer[0] = *(sendData + idx);
writeSize = 1;
break;
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback: Write failed!" << std::endl;
@ -139,19 +140,28 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
size_t replyBufferSize = cookie->getMaxBufferSize();
/** There must be a delay of 20 ms after sending the command */
usleep(RwDefinitions::SPI_REPLY_DELAY);
/** Receiving reply data */
uint8_t byteRead = 0;
/** Reading the reply frame */
if(read(fileDescriptor, &byteRead, 1) != 1) {
if(gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl;
}
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to unlock mutex";
}
sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl;
return RwHandler::SPI_READ_FAILURE;
// if(read(fileDescriptor, &byteRead, 1) != 1) {
// if(gpioId != gpio::NO_GPIO) {
// if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
// sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl;
// }
// }
// if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
// sif::error << "rwSpiCallback: Failed to unlock mutex";
// }
// sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl;
// return RwHandler::SPI_READ_FAILURE;
// }
uint8_t readbuffer[10];
if(read(fileDescriptor, readbuffer, 10) != 10) {
sif::error << "Failed to read all bytes" << std::endl;;
}
/** First byte must be the start sign 0x7E */
@ -168,8 +178,18 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
return RwHandler::MISSING_START_SIGN;
}
/**
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
for (int idx = 0; idx < 10; idx++) {
sif::error << "rwSpiCallback: Empty frame timeout";
return RwHandler::NO_REPLY;
}
size_t decodedFrameLen = 0;
for (; decodedFrameLen < replyBufferSize; decodedFrameLen++) {
byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback: Read failed" << std::endl;
return RwHandler::SPI_READ_FAILURE;